class ManMade:
    def choose_action(self, observation, isTrain=False):
        th, dth = observation[0], observation[1]
        step1 = th <= 0 and dth <= 0  # 向左摆时给向左的力
        step1 = step1 and th >= -1.1  # 摆到θA时给向右的力
        step2 = dth > 0 and th > 2.462  # 向右摆过θB时给向左的力
        step3 = th < -3.13  # 摆过最高点时给向左的力
        left = step1 or step2 or step3
        return not left
